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No commits in common. "b8eaf8066fd84278abe92f8fab2357a1d2ad7f7e" and "b5d7d9ed63b154ec75dfdc999c646d0be6433c68" have entirely different histories.
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4 changed files with 28 additions and 20 deletions
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23
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
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@ -13,7 +13,7 @@ namespace free_rtos {
namespace ecat_pdo_fmmu { namespace ecat_pdo_fmmu {
void EthEcatPdoFMMU::init(ProcessCallback callback) { void EthEcatPdoFMMU::init(custom_promise::IPromise *promise_read = nullptr, custom_promise::IPromise *promise_write = nullptr) {
std::vector<ecat_buffer::EcatBufferSlave>& buffer_slaves = ecat_buffer_.get_buffer_slaves(); std::vector<ecat_buffer::EcatBufferSlave>& buffer_slaves = ecat_buffer_.get_buffer_slaves();
pdo_fmmu_slaves_.reserve(buffer_slaves.size()); pdo_fmmu_slaves_.reserve(buffer_slaves.size());
@ -22,7 +22,8 @@ void EthEcatPdoFMMU::init(ProcessCallback callback) {
pdo_fmmu_slaves_.emplace_back(EcatPdoFMMUSlave{buffer_slave}); pdo_fmmu_slaves_.emplace_back(EcatPdoFMMUSlave{buffer_slave});
} }
callback_ = callback; promise_read_ = promise_read;
promise_write_ = promise_write;
} }
void EthEcatPdoFMMU::wait_op() { void EthEcatPdoFMMU::wait_op() {
@ -134,8 +135,12 @@ void EthEcatPdoFMMU::process() {
process_read_queue(pdo_read.data(), pdo_read.size()); process_read_queue(pdo_read.data(), pdo_read.size());
if(callback_ != nullptr) { if(promise_read_ != nullptr) {
callback_(); promise_read_->set_value(pdo_read.data(), pdo_read.size());
}
if(promise_write_ != nullptr) {
promise_write_->set_value(pdo_write.data(), pdo_write.size());
} }
process_write_queue(pdo_write.data(), pdo_write.size()); process_write_queue(pdo_write.data(), pdo_write.size());
@ -146,7 +151,7 @@ void EthEcatPdoFMMU::process() {
} }
} }
void EthEcatPdoFMMU::process_fake(uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) { void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250, custom_promise::IPromise *promise_read = nullptr, custom_promise::IPromise *promise_write = nullptr) {
std::vector<uint8_t> pdo_read(110, 0x00); std::vector<uint8_t> pdo_read(110, 0x00);
std::vector<uint8_t> pdo_write(110, 0x00); std::vector<uint8_t> pdo_write(110, 0x00);
free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer(); free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
@ -169,8 +174,12 @@ void EthEcatPdoFMMU::process_fake(uint32_t period_microsec, ecat_pdo_fmmu::Proce
process_read_queue(pdo_read.data(), pdo_read.size()); process_read_queue(pdo_read.data(), pdo_read.size());
if(callback != nullptr) { if(promise_read != nullptr) {
callback(); promise_read->set_value(pdo_read.data(), pdo_read.size());
}
if(promise_write != nullptr) {
promise_write->set_value(pdo_write.data(), pdo_write.size());
} }
process_write_queue(pdo_write.data(), pdo_write.size()); process_write_queue(pdo_write.data(), pdo_write.size());

13
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
View File

@ -18,8 +18,6 @@ namespace free_rtos {
namespace ecat_pdo_fmmu { namespace ecat_pdo_fmmu {
typedef void (*ProcessCallback)();
class EcatPdoFMMUSlave { class EcatPdoFMMUSlave {
public: public:
EcatPdoFMMUSlave(ecat_buffer::EcatBufferSlave& buffer_slave) EcatPdoFMMUSlave(ecat_buffer::EcatBufferSlave& buffer_slave)
@ -52,11 +50,12 @@ private:
class EthEcatPdoFMMU { class EthEcatPdoFMMU {
public: public:
EthEcatPdoFMMU(ecat_buffer::EthEcatBuffer& ecat_buffer): ecat_buffer_{ecat_buffer} { } EthEcatPdoFMMU(ecat_buffer::EthEcatBuffer& ecat_buffer)
: ecat_buffer_{ecat_buffer} { }
void init(ProcessCallback callback = nullptr); void init(custom_promise::IPromise *promise_read, custom_promise::IPromise *promise_write);
void process(); void process();
void process_fake(uint32_t period_microsec = 250, ProcessCallback callback = nullptr); void process_fake(uint32_t period_microsec, custom_promise::IPromise *promise_read, custom_promise::IPromise *promise_write);
uint32_t get_pdo_counter() { uint32_t get_pdo_counter() {
return pdo_counter_; return pdo_counter_;
@ -122,7 +121,8 @@ private:
queue::Queue<custom_promise::IPromise> queue_write_; queue::Queue<custom_promise::IPromise> queue_write_;
queue::Queue<custom_promise::IPromise> queue_read_; queue::Queue<custom_promise::IPromise> queue_read_;
ProcessCallback callback_{nullptr}; custom_promise::IPromise *promise_read_{nullptr};
custom_promise::IPromise *promise_write_{nullptr};
uint32_t pdo_counter_{0}; uint32_t pdo_counter_{0};
@ -179,7 +179,6 @@ private:
telegram.transfer(queue); telegram.transfer(queue);
} while(datagram_read.get_all_wkc() < 0x0001); } while(datagram_read.get_all_wkc() < 0x0001);
} }
}; };
} // namespace ecat_pdo_fmmu } // namespace ecat_pdo_fmmu

8
components/free_rtos/ethernet_industry/eth_ecat_api.cpp
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@ -9,7 +9,7 @@
namespace free_rtos { namespace free_rtos {
bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) { bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec, custom_promise::IPromise *pdo_promise_read, custom_promise::IPromise *pdo_promise_write) {
bool status = false; bool status = false;
ecat_.Init(port_id, period_microsec); ecat_.Init(port_id, period_microsec);
@ -41,7 +41,7 @@ bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32
ecat_buffer_pdo_.init_sync_manager(sync_manager::SYNC_M2, sync_manager::SYNC_M3); ecat_buffer_pdo_.init_sync_manager(sync_manager::SYNC_M2, sync_manager::SYNC_M3);
ecat_buffer_pdo_.init_fmmu(fmmu::FMMU0, fmmu::FMMU1); ecat_buffer_pdo_.init_fmmu(fmmu::FMMU0, fmmu::FMMU1);
ecat_pdo_fmmu_.init(callback); ecat_pdo_fmmu_.init(pdo_promise_read, pdo_promise_write);
status = ecat_.preop_to_safeop(); status = ecat_.preop_to_safeop();
@ -62,8 +62,8 @@ void EthEcatApi::process() {
ecat_pdo_fmmu_.process(); ecat_pdo_fmmu_.process();
} }
void EthEcatApi::process_fake(uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) { void EthEcatApi::process_fake(uint32_t period_microsec, custom_promise::IPromise *pdo_promise_read, custom_promise::IPromise *pdo_promise_write) {
ecat_pdo_fmmu_.process_fake(period_microsec, callback); ecat_pdo_fmmu_.process_fake(period_microsec, pdo_promise_read, pdo_promise_write);
} }
std::vector<ecat_buffer::PDOMap>& EthEcatApi::get_ecat_pdo_map() { std::vector<ecat_buffer::PDOMap>& EthEcatApi::get_ecat_pdo_map() {

4
components/free_rtos/ethernet_industry/eth_ecat_api.hpp
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@ -28,9 +28,9 @@ public:
, ecat_sdo_mailbox_{ecat_buffer_sdo_} , ecat_sdo_mailbox_{ecat_buffer_sdo_}
, ecat_pdo_fmmu_{ecat_buffer_pdo_} { } , ecat_pdo_fmmu_{ecat_buffer_pdo_} { }
bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250, ecat_pdo_fmmu::ProcessCallback callback = nullptr); bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250, custom_promise::IPromise *pdo_promise_read = nullptr, custom_promise::IPromise *pdo_promise_write = nullptr);
void process(); void process();
void process_fake(uint32_t period_microsec = 250, ecat_pdo_fmmu::ProcessCallback callback = nullptr); void process_fake(uint32_t period_microsec = 250, custom_promise::IPromise *pdo_promise_read = nullptr, custom_promise::IPromise *pdo_promise_write = nullptr);
std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map(); std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
uint32_t get_pdo_counter() { uint32_t get_pdo_counter() {